rp10 robotics platform
DESCRIPTION
RP10 Robotics Platform. Team Cyberdyne Interim Presentation February 17, 2009, 4-5 PM. Project Sponsor: Dr. Wayne Walter, RIT KGCOE Faculty Coach: Dr. James Vallino. History of RP10 Platform. KGCOE Multidisciplinary Senior Design Preceding project: P08201 (20071-3) - PowerPoint PPT PresentationTRANSCRIPT
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RP10 Robotics Platform
Team Cyberdyne
Interim Presentation
February 17, 2009, 4-5 PM
Project Sponsor: Dr. Wayne Walter, RIT KGCOE
Faculty Coach: Dr. James Vallino
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History of RP10 Platform
• KGCOE Multidisciplinary Senior Design
• Preceding project: P08201 (20071-3)– 2ND generation platform
• Like “next model year” in auto industry
– Built by EE, IE, ME students– Up to 4 motor modules– 10 kg payload– PC software for remote control
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Pictures of the RP10
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Project Synopsis
Motors
Encoders
BatteriesMicrocontroller (MCU)
Platform Software
RP10
Steer
Drive
Wireless RF or Wired (Serial Cable)
Platform
Model
Platform API .NET Other bindings . . .
Control Application
Microsoft Robotics Developer Studio (MRDS) RP10 Simulation
Motion commands, diagnostics
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Pictures of the MRDS
Visual Programming Language
3-D Visualized Simulation
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Process Methodology Choice• Spiral
– Cycles with upfront risk-oriented evaluation– Iterative nature– Addresses significant uncertainty frequently
• Cycles every 2-3 weeks
– Obvious general risks early on• Inappropriate decisions due to inexperience• Hardware incapability against design• Platform instability• Resource unavailability (i.e., tools)
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Schedule for 20082
Weeks Tasks
1-3 Understanding the context, initial project plan
4-6 Research and configuration• P08201 artifacts (source code, etc.)• Microcontroller details• Tools (MRDS, Simulink, SolidWorks)
Continued . . .
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Schedule – 20082Weeks Tasks
7-9
(Cycle 2)
• Platform – Base requirements– Design at multiple levels (PC, MCU)– Prototypes
• Model– Part modeling with SolidWorks – Kinematic modeling with Simulink– Reverse engineering of MRDS sample
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Metrics
• Time tracking (up to week 9)– Hours estimated: 726.65– Hours actual: 723.75– Total hours for cycle 2: 284 (39%)
• No other metrics tracked– Primarily product-oriented
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Cycle 2 (C2) - Risks
• Cannot create a comprehensive RP10 simulation in MRDS.
• Communication between MCU and PC is unreliable.
• Designs for MRDS implementation and platform API are incompatible.
• Cannot use encoders to track angular wheel position.
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C2 - Requirements Elicitation
• Limitations of RP10 platform– P08201 documentation– Experimentation to fill in gaps
• Interviews with KGCOE professors– Understand applications of platform– Influence API design
• Discussions on simulation detail– Command set from API– Physical characteristics from Simulink
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Notable Requirements
• Platform– Control individual motors for drive, steer– Determine wheel angular position
• Model– Build a 3D model of the RP10
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C2 - Design Process• Platform
– Split platform into subsystems• API• Communication Protocol• MCU
– Divide sub-team across subsystem preferences– Collaborate to resolve interface issues
• Model– Defined assets necessary for a simulation
• Manifests, services, 3D model, etc.
– Divided sub-team by expertise
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Architecture - Platform
Communication Manager
Protocol over Serial Cable
Robot Control
Executable
PWM* signals
PC
MCU*
Motors
.NET
User Interface (GUI/CLI)
*Microcontroller Unit, Pulse Width Modulation
Abstracts communication hardware (wireless or wired)
Commands (i.e., set speed, go, stop, etc.)
Responds to commands from PC, acknowledges commands
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Communication Protocol
• Packets– Operation code (1 byte)– Data (optional 1 byte)
• Acknowledges each byte received
• Heartbeats from PC– Automatic robot shutdown if no beat received
• Command error checking on PC
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Architecture – Model -- MRDS
OrchestrationServices
ActuatorServices
InputServices
Battery
Dashboard Control
Behaviours
User Interface - State feedbackControl Logic - Steering - Throttle - Sequences
Service Framework Overview
Drive Motor 1
Steering Motor 1
Drive Motor 2
Steering Motor 2
Drive Motor 3
Steering Motor 3
Drive Motor 4
Steering Motor 4
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SolidWorks • Create a 3-D model to import into MRDS
– Includes material properties
• 2008 vs. 2009– Collada Export in 2009
• Licensing
• Future Plans
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Notable Trade-offs
• PC vs. MCU functionality– PC: Easier to modify software– MCU: Software closest to hardware
• Modeling a wheel vs. entire drive train– Wheel: Simplifies model development– Drive train: More accurate with all gears
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Implementation Technologies
• Platform– FreeScale MCU with CodeWarrior IDE
• Hardware specific registers• C programming
– C#.NET with Visual Studio• PC control software
• Model– Visual Programming Language (VPL) with MRDS
• Drag-drop programming of objects and actions
– C#.NET• Interface with low-level MRDS components, API
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Test Strategy & Issues• Platform
– Manual acceptance tests through PC control• Coverage of all commands in protocol• Physical observation of correctness (i.e., yardstick)
– Reliability, performance testing
• Model– Simulated part function unit tests– Simulation test course for long duration– Dashboard control in simulated environment– Comparison of part functions between simulation and
real robot
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C2 - Results• Platform
– Designs for API, communication protocol– Requirements document– PC-MCU prototype of protocol
• Model– Initial overall platform characteristics– SolidWorks motor module, frame models– Requirements, test strategy documents
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Schedule Projections10-11
(Cycle 3)
• Department deliverables• Platform
– Low-fidelity prototypes of control interface– Complete designs for implementation
• Model– Services for battery, brick– Approach for MRDS-API integration– Next versions of SolidWorks, Simulink models
• Plans for start of next quarter– Platform implementation– Motor services
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Lessons
• Learn and abide by the methodology
• Set specific goals and work to them
• Plan activities separate of needed tools
• Do not isolate sub-teams
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Questions?